Omniwheel track system and platform using the same

Abstract

An omniwheel track system comprising a frame comprising at least one supporting plate, an endless drive mechanism mounted to the frame, and a plurality of segment assemblies mounted to the frame and drivable by the endless drive mechanism, the plurality of segment assemblies forming an endless track rotatable about the frame, each segment assembly comprising a housing adapted to receive at least one load wheel, each load wheel mounted to a corresponding segment assembly and rotatable about an axis, each axis forming an angle with a side of the housing. There is also provided an omniwheel track system platform comprising a plurality of the omniwheel track systems described above arranged on a main frame such that the omniwheel track system platform is movable omnidirectionally.

The invention claimed is: 
     
       1. An omniwheel track system ( 1 ) comprising:
 a frame ( 100 ) comprising at least one supporting plate ( 105 ); 
 an endless drive mechanism ( 200 ) mounted to said frame ( 100 ); and 
 a plurality of segment assemblies ( 300 ) mounted to said frame ( 100 ) and drivable by said endless drive mechanism ( 200 ), said plurality of segment assemblies ( 300 ) forming an endless track ( 2 ) rotatable about said frame ( 100 ), each said segment assembly ( 300 ) comprising a housing ( 306 ) adapted to receive at least one load wheel ( 301 ), each said load wheel ( 301 ) mounted to a corresponding said segment assembly ( 300 ) and rotatable about an axis ( 305 ), each said axis ( 305 ) forming an angle with a side of said housing ( 306 ), wherein each said segment assembly ( 300 ) comprises at least one of a rotatably-mounted horizontal idling wheel ( 304 ) configured to roll on a side of said endless drive mechanism ( 200 ) and a rotatably-mounted vertical idling wheel ( 303 ) configured to roll on a side of said frame ( 100 ). 
 
     
     
       2. The omniwheel track system of  claim 1 , wherein said endless drive mechanism ( 200 ) comprises a motor ( 400 ), at least one drive wheel ( 201 ) drivable by said motor ( 400 ) via a rotating shaft ( 204 ), and at least one idler wheel ( 203 ) drivable by said at least one drive wheel ( 201 ) via an endless belt ( 202 ). 
     
     
       3. The omniwheel track system of  claim 2 , wherein each of said at least one drive wheel ( 201 ) and at least one idler wheel ( 203 ) is a sprocket and said endless belt ( 202 ) is a chain. 
     
     
       4. The omniwheel track system of  claim 2 , wherein each of said at least one drive wheel ( 201 ) and at least one idler wheel ( 203 ) is a pulley and said endless belt ( 202 ) is a belt. 
     
     
       5. The omniwheel track system of  claim 1 , wherein each said segment assembly ( 300 ) comprises at least three said load wheels ( 301 ). 
     
     
       6. The omniwheel track system of  claim 5 , wherein at least one said load wheel ( 301 ) on each said segment assembly ( 300 ) is mounted to said segment assembly ( 300 ) at an attachment point that is vertically offset from the remaining said load wheels ( 301 ) on said segment assembly ( 300 ). 
     
     
       7. The omniwheel track system of  claim 1 , wherein said frame ( 100 ) comprises a first supporting plate ( 105 ) and a second supporting plate ( 106 ). 
     
     
       8. The omniwheel track system of  claim 1 , wherein each said axis ( 305 ) forms an angle of approximately 45 degrees with said side of said housing ( 306 ). 
     
     
       9. An omniwheel track system platform (P) comprising a plurality of the omniwheel track system ( 1 ) of  claim 1  arranged on a main frame such that said omniwheel track system platform is movable omnidirectionally. 
     
     
       10. The omniwheel track system platform (P) of  claim 9 , comprising at least three omniwheel track systems ( 1 ). 
     
     
       11. The omniwheel track system platform (P) of  claim 9 , comprising at least four omniwheel track systems ( 1 ). 
     
     
       12. A method of manufacturing an omniwheel track system ( 1 ) comprising:
 mounting at least one supporting plate ( 105 ) on a frame ( 100 ); 
 mounting an endless drive mechanism ( 200 ) to said frame ( 100 ); and 
 mounting a plurality of segment assemblies ( 300 ) to said frame ( 100 ), said segment assemblies being drivable by said endless drive mechanism ( 200 ), said plurality of segment assemblies ( 300 ) forming an endless track ( 2 ) rotatable about said frame ( 100 ), each said segment assembly ( 300 ) comprising a housing ( 306 ) adapted to receive at least one load wheel ( 301 ), each said load wheel ( 301 ) mounted to a corresponding said segment assembly ( 300 ) and rotatable about an axis ( 305 ), each said axis ( 305 ) forming an angle with a side of said housing ( 306 ), wherein each said segment assembly ( 300 ) comprises at least one of a rotatably-mounted horizontal idling wheel ( 304 ) configured to roll on a side of said endless drive mechanism ( 200 ) and a rotatably-mounted vertical idling wheel ( 303 ) configured to roll on a side of said frame ( 100 ). 
 
     
     
       13. The method of  claim 12 , further comprising coupling a motor ( 400 ) to said endless drive mechanism ( 200 ), wherein at least one drive wheel ( 201 ) is drivable by said motor ( 400 ) via a rotating shaft ( 204 ), and at least one idler wheel ( 203 ) is drivable by said at least one drive wheel ( 201 ) via an endless belt ( 202 ).